CN202702248U - Finger device for shape-following self-adapting underactuated robot - Google Patents
Finger device for shape-following self-adapting underactuated robot Download PDFInfo
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- CN202702248U CN202702248U CN 201220355154 CN201220355154U CN202702248U CN 202702248 U CN202702248 U CN 202702248U CN 201220355154 CN201220355154 CN 201220355154 CN 201220355154 U CN201220355154 U CN 201220355154U CN 202702248 U CN202702248 U CN 202702248U
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Abstract
The utility model provides a finger device for a shape-following self-adapting underactuated robot and belongs to the technical field of a robot finger simulating a hand of people. The finger device for the shape-following self-adapting underactuated robot comprises a first finger section, a second finger section and an underactuated joint. The underactuated joint comprises an air bag, a joint shaft, a pneumatic flexible piece and a spring piece. The air bag is adopted as a receiving deformation piece, gas in a deformed closed space is adopted as a transmission medium, and the pneumatic flexible piece which is axially telescopic and axially bent is combined, so that the passive underactuated bending effect that a finger squeezes to articles in each direction when catching the articles is comprehensively achieved. Small shape-following deformation of the air bag is utilized so as to enable the second finger section to rotate in a large angle. The finger device for the shape-following self-adapting underactuated robot does not limit the direction for the articles to squeeze the air bag, and any squeezing of the air bag can trigger rotation of the second finger section. The finger device for the shape-following self-adapting underactuated robot has a self-adapting function on the shape size of caught articles. Meanwhile, the finger device for the shape-following self-adapting underactuated robot is simple in structure, small in size, light in weight, low in manufacturing and maintenance cost, similar to a finger of the hand of the people, and capable of connecting and forming a high-shape self-adapting and high underactuated multi-joint finger in series.
Description
Technical field
The utility model belongs to the humanoid robot hand technical field, particularly a kind of structural design of conformal self adaptation under-actuated robot finger device.
Background technology
Robot is paid attention to by increasing robot research person as anthropomorphic robot's outlet terminal.In robotics field two large class robots are arranged: Dextrous Hand and owe to drive hand, they respectively based on ACTIVE CONTROL with owe to drive two kinds of different type of drive.Dextrous Hand profile and action are the spitting image of staff, can be under the comprehensive function of complex control algorithm, control system, sensor-based system and executive system, finish neatly the majority action that staff can be finished, but Dextrous Hand is expensive, the production control difficulty is large, maintenance difficulties is large, also fails so far broad practice.Owe to drive hand and can realize better more joint freedom degrees, less driver number, have very these three targets of strongly-adaptive ability when grasping difformity and size objects, the advantages such as installation cost is low, the control difficulty is little, maintenance is simple are arranged simultaneously.
Many fingers articulated robot arm device of existing a kind of pneumatic type active drive, such as Chinese invention patent CN101402200A, wherein each joint adopts Pneumatic flexible actuator to realize the bending of finger.The weak point of this device is: this device is owing to adopt the strength active drive respectively to point the rotation in each joint, so that this hand volume is large, quality is large, manufacturing cost is high, the control difficulty is large, can not the self-adapting grasping object, very complicated control must be relied on and crawl to the different size shaped objects could be realized.
Existing a kind of Pneumatic type underactuated robot finger device such as Chinese invention patent CN 101733758B, comprises first and second segment and unactuated joint, and unactuated joint comprises active sliding block, joint shaft, two pneumatic flexible piece and spring spares.External force drives active sliding block and slides in the first segment, and active sliding block pushes the first pneumatic flexible piece, and then pushing gas, realizes axial elongation and the bending of the second pneumatic flexible piece, and then realizes the rotation of the second segment and fastening object.The weak point of this device is: the conversion of motion form of owing to drive is " from translation to rotating ", and namely the caused active sliding block of crawled object extruding active sliding block is converted into the rotation of the second segment along the translation of the first segment internal chute by unactuated joint.There is following wretched insufficiency in this device: this matching requirements object must very little (for example less than 30 degree) to the angle of extruding force and the chute direction of active sliding block (being the pressure angle of active sliding block motion), otherwise active sliding block will be difficult to be pushed; In addition, some are not lost along the power of active sliding block guide groove direction on application of force source; Because have friction, resistance is larger, causes equally the loss of power.
The utility model content
The purpose of this utility model is in order to overcome the weak point of prior art, to propose a kind of conformal self adaptation under-actuated robot finger device.This device can be installed on the manipulator, cooperate finger or other active drive joints on the finger of other active drive to realize the crawl object, and having adaptation function to the shape size of grabbing object, the adaptation function of this device does not require that object is to the direction of finger extruding.
The utility model adopts following technical scheme:
A kind of conformal self adaptation under-actuated robot finger device that the utility model provides comprises the first segment, the second segment and is arranged between the two unactuated joint; Described unactuated joint comprises joint shaft and pneumatic flexible piece; Described joint shaft is set in the first segment, and the second segment is fixed on the joint shaft; Described pneumatic flexible piece comprises the first end cap, the second end cap and extensible member; Described extensible member two ends are connected with the first end cap, the second end cap seal respectively; But described extensible member adopts the cylindrical material of axial stretching and axial bending and hollow to make; Described pneumatic flexible piece is fixedly connected with the first segment by the first end cap, and pneumatic flexible piece is fixedly connected with the second segment by the second end cap; The two ends of described spring spare connect respectively the first segment and the second segment, and described spring spare adopts extension spring, stage clip, torsion spring, clockwork spring, sheet spring or elastic threads; It is characterized in that: described unactuated joint also comprises air bag; The part of described air bag is embedded in the first segment, and another part of air bag is exposed at the outer and object contact of grabbing of the first segment; Described air bag and pneumatic flexible piece are connected by the through hole in the first segment.
Described conformal self adaptation under-actuated robot finger device is installed on the manipulator, and this manipulator also has other fingers or the joint by the driver active drive, and these other fingers or joint are as drive source.
A kind of preferred version of conformal self adaptation under-actuated robot finger device described in the utility model, it is characterized in that: the extensible member of described pneumatic flexible piece adopts embedding spring silk rubber tube, this embedding spring silk rubber tube comprises rubber tube and spring wire, be nested with spring wire in the described rubber tube tube wall, described spring wire is close in the inwall of rubber tube along the radially spiral of rubber tube.
Another preferred version of conformal self adaptation under-actuated robot finger device described in the utility model, it is characterized in that: the extensible member of described pneumatic flexible piece adopts cover spring silk rubber tube, this cover spring silk rubber tube comprises rubber tube and spring wire, described rubber tube tube wall outside cover has spring wire, described spring wire is close on the outer wall of rubber tube along the radially spiral of rubber tube, and the two ends of described spring wire connect respectively the first end cap and the second end cap.
Another preferred version of conformal self adaptation under-actuated robot finger device described in the utility model, it is characterized in that: the extensible member of described pneumatic flexible piece adopts bellows type extensible member, the accordion bellows structure that described bellows type extensible member is axial stretching and axial bending.
A kind of preferred version of conformal self adaptation under-actuated robot finger device described in the utility model is characterized in that: install spring spare additional between the first segment and the second segment, described spring spare adopts extension spring, stage clip, torsion spring or sheet spring.
A kind of preferred version of conformal self adaptation under-actuated robot finger device described in the utility model is characterized in that: described extensible member is provided with valve cock.
A kind of preferred version of conformal self adaptation under-actuated robot finger device described in the utility model is characterized in that: described air bag adopts flexible material.
The utility model also provides a kind of pneumatic type lack of driven robot multi-joint finger apparatus that adopts described conformal self adaptation under-actuated robot finger device, it is characterized in that: comprise n segment and n-1 described unactuated joint, wherein n is the integer greater than 2.
The utility model compared with prior art has the following advantages and the high-lighting effect:
Conformal self adaptation under-actuated robot finger device of the present utility model adopts air bag as receiving gas in deformable member and the deformable confined space as transmission medium, but in conjunction with the pneumatic flexible piece of axial stretching and axial bending, any direction object extruding passive owes to drive bending effect when comprehensively having realized finger crawl object; Utilize the very little rotation that can bring the second segment wide-angle with deformation of air bag; This device does not limit the direction of object extruding gasbag, and extruding gasbag can cause the rotation of the second segment arbitrarily; This conformal self adaptation under-actuated robot finger device is fit to be installed on the manipulator as a finger of humanoid robot hand or a part of pointing, cooperate finger or other active drive joints on the finger of other active drive to realize the crawl object, and has a adaptation function to the shape size of grabbing object, this apparatus structure is simple, volume is little, quality is little, and manufacturing and maintenance cost are low, and be similar to the finger of staff.This device can be together in series and consist of high form adaptive and the high multi-joint finger of owing to drive, can also constitute the humanoid robot hand that height is owed to drive with a plurality of such simple joints or multi-joint finger, in order to reach the high joint freedom degrees of humanoid robot hand, the adaptive effect of high crawl.
Description of drawings
Fig. 1 is the side cut away view (be the B-B profile among Fig. 3, finger is straight configuration) of a kind of embodiment of the conformal self adaptation under-actuated robot finger device that provides of the utility model.
Fig. 2 is front cross-sectional view (for the A-A profile among Fig. 4) embodiment illustrated in fig. 1.
Fig. 3 is front appearance figure embodiment illustrated in fig. 1.
Fig. 4 is side outside drawing embodiment illustrated in fig. 1.
Fig. 5 is stereo appearance figure (finger is straight configuration) embodiment illustrated in fig. 1.
Fig. 6 is the side cut away view embodiment illustrated in fig. 1 (this moment, air bag was partly pressed, and the second segment turns an angle) of the conformal self adaptation under-actuated robot finger device that provides of the utility model.
Fig. 7 is the stereo appearance figure of Fig. 6 state.
Fig. 8 is the side cut away view embodiment illustrated in fig. 1 (this moment, air bag was depressed to extreme position, and the second segment is rotated than wide-angle) of the conformal self adaptation under-actuated robot finger device that provides of the utility model.
Fig. 9 is the stereo appearance figure of Fig. 8 state.
Figure 10 is the side outside drawing (using extension spring between the first segment and the second segment) of another kind of embodiment of the present utility model.
Figure 11 is the stereo appearance figure of Figure 10.
Figure 12 is the side outside drawing (using torsion spring between the first segment and the second segment) of another kind of embodiment of the present utility model.
Figure 13 is the stereo appearance figure of Figure 12.
Figure 14 is the partial sectional view that adopts the pneumatic flexible piece of embedding spring silk rubber tube.
Figure 15 is the cutaway view of Figure 14.
Figure 16 is the pneumatic flexible piece stereo appearance figure that adopts cover spring silk rubber tube.
Figure 17 is the cutaway view of Figure 16.
Figure 18 is the pneumatic flexible piece stereo appearance figure that adopts the bellows type extensible member.
Figure 19 is the cutaway view of Figure 18.
Figure 20 is the stereo appearance figure with the pneumatic flexible piece embodiment of the employing embedding spring silk rubber tube of valve cock.
Figure 21 is the stereo appearance figure with the pneumatic flexible piece embodiment of the employing cover spring silk rubber tube of valve cock.
Figure 22 is the stereo appearance figure with the pneumatic flexible piece embodiment of the employing bellows type extensible member of valve cock.
Figure 23, Figure 24, Figure 25, Figure 26 are the schematic diagrames that the first segment is fixed in the finger grip object embodiment illustrated in fig. 1 on the palm.
Figure 27, Figure 28, Figure 29, Figure 30 are the first segments and the schematic diagram of finger grip object embodiment illustrated in fig. 1 after initiatively the joint is connected.
Figure 31 is the side view of having used conformal self adaptation lack of driven robot multi-joint finger apparatus embodiment (having adopted two unactuated joints) embodiment illustrated in fig. 1.
Figure 32 is the front elevational view of the doublejointed finger of Figure 31.
Figure 33 is the doublejointed finger of Figure 31 embodiment grasps large sized object under two unactuated joints rotate schematic diagram.
Figure 34 is the three finger grip object schematic diagrames of having used three doublejointed finger embodiment shown in Figure 31.
Figure 35 is the left view of Figure 34.
In Fig. 1 to Figure 35:
1-the first segment, 2-the second segment, the 3-unactuated joint,
The 4-air bag, the 5-joint shaft, the 6-through hole,
The 7-pneumatic flexible piece, segment in the middle of the 8-spring spare, 9-,
71-the first end cap, 72-the second end cap, 73-embedding spring silk rubber tube,
74-cover spring silk rubber tube, 75-bellows type extensible member, the 76-valve cock,
The 731-rubber tube, the 732-spring wire, the 741-rubber tube,
The 742-spring wire, the 751-flexible outer cover, the 752-great circle,
The 753-ringlet.
The specific embodiment
Further describe concrete structure of the present utility model, operation principle and the course of work below in conjunction with drawings and Examples.
A kind of embodiment of a kind of conformal self adaptation under-actuated robot finger device of the utility model design analyses and observe as shown in Figure 1 and Figure 2 outward appearance such as Fig. 3, Fig. 4, shown in Figure 5.
Present embodiment comprises the first segment 1, the second segment 2 and is arranged between the two unactuated joint 3; Described unactuated joint 3 comprises joint shaft 5 and pneumatic flexible piece 7; Described joint shaft 5 is set in the first segment 1, and the second segment 2 is fixed on the joint shaft 5, joint shaft 5 be connected segment 2 and adopt pins to connect; Described pneumatic flexible piece 7 comprises the first end cap 71, the second end cap 72 and extensible member; Described extensible member two ends are tightly connected with the first end cap 71, the second end cap 72 respectively; But described extensible member adopts the cylindrical material of axial stretching and axial bending and hollow to make; Described pneumatic flexible piece 7 is fixedly connected with the first segment 1 by the first end cap 71, and pneumatic flexible piece 7 is fixedly connected with the second segment 2 by the second end cap 72; The two ends of described spring spare 8 connect respectively the first segment 1 and the second segment 2, and described spring spare 8 adopts extension spring, stage clip, torsion spring or sheet spring; The part of described air bag 4 is embedded in the first segment 1, and another part of air bag 4 is exposed at the first segment 1 outer and object contact of grabbing; Described air bag 4 and pneumatic flexible piece 7 are connected by the through hole 6 in the first segment 1.There is gas in air bag, pneumatic flexible piece and the through hole.Described conformal self adaptation under-actuated robot finger device is installed on the manipulator, and this manipulator also has other fingers or the joint by the driver active drive, and these other fingers or joint are as drive source.
The scalable component of pneumatic flexible piece 7 has various ways to realize, for example the scheme introduced of following (a) and (b), (c).
(a) among the embodiment of a kind of preferred version of the present utility model, described extensible member adopts embedding spring silk rubber tube 73, described embedding spring silk rubber tube 73 comprises rubber tube 731 and spring wire 732, be nested with spring wire in the described rubber tube wall, described spring wire is close in the inwall of rubber tube along the radially spiral of rubber tube.Figure 14, Figure 15 are a kind of embodiment of this pneumatic flexible piece, and the extensible member of this pneumatic flexible piece has adopted embedding spring silk extensible member.
(b) among the embodiment of another preferred version of the present utility model, described extensible member adopts cover spring silk rubber tube 74, described cover spring silk rubber tube 74 comprises rubber tube 741 and spring wire 742, described rubber tube tube wall outside cover has spring wire, described spring wire is close on the outer wall of rubber tube along the radially spiral of rubber tube, and the two ends of described spring wire connect respectively the first end cap and the second end cap.Figure 16, Figure 17 are a kind of embodiment of this pneumatic flexible piece, and the extensible member in this pneumatic flexible piece adopts cover spring silk extensible member.
(c) among the embodiment of another preferred version of the present utility model, described extensible member adopts bellows type extensible member 75, but described bellows type extensible member 75 is the accordion bellows structure of axial stretching and axial bending.Described bellows type extensible member comprises flexible outer cover 751, great circle 752 and ringlet 753, and for example great circle and ringlet adopt wire loop, and a great circle one ringlet ground straggly is equidistantly hidden in flexible outer cover, for example does flexible outer cover with cloth.Figure 18, Figure 19 are a kind of embodiment of this pneumatic flexible piece, and the extensible member of this pneumatic flexible piece has adopted the bellows type extensible member.
Among the embodiment of a kind of preferred version of the present utility model, described extensible member is provided with valve cock 76, such as Figure 20, Figure 21, shown in Figure 22.
The utility model also provides a kind of pneumatic type lack of driven robot multi-joint finger apparatus that adopts described conformal self adaptation under-actuated robot finger device, it is characterized in that: comprise n segment and n-1 described unactuated joint, wherein n is the integer greater than 2.A kind of embodiment that adopts the pneumatic type lack of driven robot doublejointed finger apparatus of described conformal self adaptation under-actuated robot finger device such as Figure 31 and shown in Figure 32, comprises 3 segments and 2 described unactuated joints.Figure 33 is the situation of this doublejointed finger crawl object, and Figure 34 and Figure 35 are the situation of 3 doublejointed finger crawl objects.
The two ends of the spring spare in the utility model 8 connect respectively the first segment 1 and the second segment 2, and its function is: under the nature and when decontroling object, spring spare 8 has both kept pointing straight configuration so that pneumatic flexible piece 7 and air bag 4 resile; During the crawl object, spring spare 8 will be out of shape under the promotion of foreign object.Figure 10, embodiment illustrated in fig. 11 be exactly to have adopted extension spring, Figure 12, the torsion spring that just adopted embodiment illustrated in fig. 13.
Introduce the operation principle of the embodiment of conformal self adaptation under-actuated robot finger device below in conjunction with accompanying drawing.
(i) if the first segment 1 of present embodiment is fixed on the palm of humanoid robot hand, the operation principle of present embodiment shown in Figure 23,24,25,26, is described below:
When robot did not contact object, finger was in free state, and air bag 4 is not squeezed, and pneumatic flexible piece 7 is undeformed, and finger keeps straight configuration.
When robot crawl object, compressing object after other fingers rotate, object extruding gasbag 4, push gas in the first segment 1 through hole, because the restriction of spring wire 732, pneumatic flexible piece 7 can radial deformation, only axial elongation and axial bending can occur, spring wire is stretcher strain also, strength will promote the second segment 2 and make the large rotation angle angle [alpha] around closing joint shaft 5 center lines, until the second segment 2 contact objects, thereby this robot will have the automatic adaptability to article size, shape.This can fasten object fast so that the second segment has when rotating the driver drives such as motor general seemingly, has realized that finger self without driver, but can have the purpose of joint freedom degrees.
When robot is decontroled object, other fingers leave object under electric machine rotation, object is compression bladder 4 no longer just also, the back stretch of spring wire 732 will spur the second segment and get back to around joint shaft 5 center lines and initially stretch the position, strength will push gas in the through hole this moment, so that air bag 4 restPoses and the position.Can also install in addition a spring spare 8 in the present embodiment additional and assist this process, can certainly not need this spring spare.
If (ii) the first segment 1 root with present embodiment (embodiment illustrated in fig. 1) is fixed on the active joint shaft by driver drives, the operation principle of present embodiment shown in Figure 27,28,29,30, is described below:
When robot crawl object, cover has the active joint of the first segment 1 to rotate under driving moment m effect, so that whole finger apparatus rotates together with the active joint shaft of the root center line around the active joint shaft, until air bag 4 contact objects, because object can not leave under the effect of other fingers, so, when the active joint shaft is rotated further, air bag 4 stops that object the foundation institute object appearance of grabbing is to internal strain under the extruding, and the process that grasps thereafter is with (a) similar.
Adopt the operating principle of the pneumatic type lack of driven robot multi-joint finger apparatus of described conformal self adaptation under-actuated robot finger device to be: when robot crawl object, two unactuated joints can sequentially-operating, finally automatic shape, the size that adapts to object.This finger has the motor active drive general at the unactuated joint place seemingly.
Conformal self adaptation under-actuated robot finger device of the present utility model adopts air bag as receiving gas in deformable member and the deformable confined space as transmission medium, but in conjunction with the pneumatic flexible piece of axial stretching and axial bending, any direction object extruding passive owes to drive bending effect when comprehensively having realized finger crawl object; Utilize the very little rotation that can bring the second segment wide-angle with deformation of air bag; This device does not limit the direction of object extruding gasbag, and extruding gasbag can cause the rotation of the second segment arbitrarily; This conformal self adaptation under-actuated robot finger device is fit to be installed on the manipulator as a finger of humanoid robot hand or a part of pointing, cooperate finger or other active drive joints on the finger of other active drive to realize the crawl object, and has a adaptation function to the shape size of grabbing object, this apparatus structure is simple, volume is little, quality is little, and manufacturing and maintenance cost are low, and be similar to the finger of staff.This device can be together in series and consist of high form adaptive and the high multi-joint finger of owing to drive, can also constitute the humanoid robot hand that height is owed to drive with a plurality of such simple joints or multi-joint finger, in order to reach the high joint freedom degrees of humanoid robot hand, the adaptive effect of high crawl.
Claims (8)
1. conformal self adaptation under-actuated robot finger device comprises the first segment (1), the second segment (2) and is arranged between the two unactuated joint (3); Described unactuated joint comprises joint shaft (5) and pneumatic flexible piece (7); Described joint shaft (5) is set in the first segment (1), and the second segment (2) is fixed on the joint shaft (5); Described pneumatic flexible piece (7) comprises the first end cap (71), the second end cap (72) and extensible member; Described pneumatic flexible piece (7) is fixedly connected with the first segment (1) by the first end cap (71), and pneumatic flexible piece (7) is fixedly connected with the second segment (2) by the second end cap (72); Be provided with through hole (6) in described the first segment; It is characterized in that: described unactuated joint also comprises air bag (4); The part of described air bag is embedded in the first segment, and another part of air bag is exposed at the outer and object contact of grabbing of the first segment; Described air bag (4) and pneumatic flexible piece (7) are connected by the through hole (6) in the first segment (1).
2. conformal self adaptation under-actuated robot finger device as claimed in claim 1, it is characterized in that: the extensible member of described pneumatic flexible piece (7) adopts embedding spring silk rubber tube (73), this embedding spring silk rubber tube (73) comprises rubber tube (731) and spring wire (732), and described spring wire (732) is close in the inwall of rubber tube along the radially spiral of rubber tube (73).
3. conformal self adaptation under-actuated robot finger device as claimed in claim 1, it is characterized in that: the extensible member of described pneumatic flexible piece (7) adopts cover spring silk rubber tube (74), this cover spring silk rubber tube (74) comprises rubber tube (741) and spring wire (742), described spring wire is close on the outer wall of rubber tube along the radially spiral of rubber tube, and the two ends of described spring wire connect respectively the first end cap and the second end cap.
4. conformal self adaptation under-actuated robot finger device as claimed in claim 1, it is characterized in that: the extensible member of described pneumatic flexible piece (7) adopts bellows type extensible member (75), and described bellows type extensible member (75) is the accordion bellows structure of axial stretching and axial bending.
5. such as claim 1,2,3 or 4 described conformal self adaptation under-actuated robot finger devices, it is characterized in that: install spring spare additional between the first segment (1) and the second segment (2), described spring spare adopts extension spring, stage clip, torsion spring or sheet spring.
6. such as claim 1,2,3 or 4 described conformal self adaptation under-actuated robot finger devices, it is characterized in that: described extensible member is provided with valve cock (76).
7. such as claim 1,2,3 or 4 described conformal self adaptation under-actuated robot finger devices, it is characterized in that: described air bag (4) adopts flexible material.
8. an employing is such as the pneumatic lack of driven robot multi-joint finger apparatus of conformal self adaptation under-actuated robot finger device as described in the claim 1,2,3 or 4, it is characterized in that: comprise n segment and n-1 described unactuated joint, wherein n is the integer greater than 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220355154 CN202702248U (en) | 2012-07-20 | 2012-07-20 | Finger device for shape-following self-adapting underactuated robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220355154 CN202702248U (en) | 2012-07-20 | 2012-07-20 | Finger device for shape-following self-adapting underactuated robot |
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| CN 201220355154 Expired - Fee Related CN202702248U (en) | 2012-07-20 | 2012-07-20 | Finger device for shape-following self-adapting underactuated robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102756376A (en) * | 2012-07-20 | 2012-10-31 | 清华大学 | Finger device for underactuated robot adapting along with shapes automatically |
| CN103315881A (en) * | 2013-06-26 | 2013-09-25 | 浙江大学 | Exoskeleton flexible joint drive device based on flexible rope transmission |
| CN104608140A (en) * | 2015-02-11 | 2015-05-13 | 江南大学 | Pneumatic soft finger |
| CN104743140A (en) * | 2015-03-28 | 2015-07-01 | 哈尔滨工业大学 | Grabbing type inflated arresting hand |
-
2012
- 2012-07-20 CN CN 201220355154 patent/CN202702248U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102756376A (en) * | 2012-07-20 | 2012-10-31 | 清华大学 | Finger device for underactuated robot adapting along with shapes automatically |
| CN103315881A (en) * | 2013-06-26 | 2013-09-25 | 浙江大学 | Exoskeleton flexible joint drive device based on flexible rope transmission |
| CN104608140A (en) * | 2015-02-11 | 2015-05-13 | 江南大学 | Pneumatic soft finger |
| CN104743140A (en) * | 2015-03-28 | 2015-07-01 | 哈尔滨工业大学 | Grabbing type inflated arresting hand |
| CN104743140B (en) * | 2015-03-28 | 2016-08-24 | 哈尔滨工业大学 | A kind of grasping type inflation catching hand |
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